From: Analytical dual quaternion algorithm of the weighted three-dimensional coordinate transformation
Rotation matrix | Â | Â | Â |
---|---|---|---|
\({\mathbf{R}}\) | 1.0000000000 | 0.0000047797 |  − 0.0000043444 |
 |  − 0.0000047797 | 1.0000000000 |  − 0.0000048370 |
 | 0.0000043443 | 0.0000048371 | 1.0000000000 |
Rotation angles (″) |  |  |  |
 θx |  |  − 0.997716 |  |
 θy |  | 0.896085 |  |
 θz |  | 0.985885 |  |
Translation (m) | Â | Â | Â |
 tx |  | 641.8395 |  |
 ty |  | 68.4729 |  |
 tz |  | 416.2156 |  |
Scale | Â | Â | Â |
λ |  | 1.000005611 |  |
Standard deviation of unit weight (m) | Â | Â | Â |
σ |  | 0.1140 |  |